Pipe conveying device with deviation prevention function

Abstract

The invention discloses a pipe conveying device with an anti-deviation function, and relates to the technical field of pipe conveying devices. Comprising a pipe stock bin, a transportation correction assembly, a pipe clamping assembly, a support, a feeding clamping jaw, a feeding device and a loading assembly, deformation of a pipe is converted into displacement of a first transmission rod through an inner concave measuring wheel, and the first transmission rod converts the displacement into extrusion force on a first piezoelectric element through a first contact; the first piezoelectric element converts the extrusion force into recognizable electric signals, and the control system judges the deformation degree of the pipe according to the strength of the electric signals, so that the purpose of detecting the bending degree of the pipe is achieved. The control system adjusts the transportation correcting assembly to be in a straightening mode through the adjusting piece, the inwards-concave measuring wheel at the highest position is adjusted to generate the downward pressing displacement of the corresponding degree according to the deformation bending degree of the pipe, and the pipe clamping assembly is matched for rolling the bent area of the pipe in a reciprocating mode till the detected bending degree meets the production requirement. Therefore, the purpose of straightening the pipe is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe conveying devices, in particular to a pipe conveying device with an anti-deviation function. Background Art

[0002] The pipe conveying device is one of the core equipment for pipe processing and production. The application of the pipe conveying device has greatly improved the production efficiency of pipe processing. The automated and continuous conveying method reduces manual intervention and shortens the production cycle. At the same time, the precise conveying and positioning functions ensure the high quality of the finished products. From the perspective of industrial upgrading, the technological progress and upgrading of steel pipe conveying devices are of great significance to promoting the overall development of the pipe processing industry. With the continuous innovation of technology and the continuous expansion of the market, the performance and functions of these devices have been further improved and improved, providing more efficient and intelligent solutions for the pipe processing industry.

[0003] In the actual production process, when metal pipes are stored for a long time, some pipes are squeezed by external forces during stacking and transportation, which will cause bending. When the storage environment is poor, the pipes will get damp and rust will appear. When the pipe conveying device conveys these bent or rusty metal pipes, the bent pipes will roll irregularly on the conveying device. Due to the different friction between the rusty part and the smooth part and the conveying device, the force on the pipe will be unbalanced, which will eventually cause the pipe to deviate, which will not only affect production efficiency, but also cause damage to equipment and personnel. Summary of the invention

[0004] The purpose of the present invention is to provide a pipe conveying device with an anti-deviation function to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pipe conveying device with an anti-deviation function, comprising a bracket, a pipe clamping assembly is provided on one side of the bracket, a transport correction assembly is rotatably installed on the pipe clamping assembly, a loading assembly is installed on the bracket, a feeding clamp is installed on the bracket, a feeding device is installed on the bracket, and a pipe silo is installed on the bracket; the transport correction assembly comprises a sliding ring and a plurality of second electric telescopic rods, the sliding ring is slidably connected to the pipe clamping assembly, an adjusting piece is rotatably installed on the sliding ring, one end of the second electric telescopic rod is rotatably connected to the sliding ring, the output shaft of the second electric telescopic rod is rotatably connected to the adjusting piece, a first bracket is installed on one side of the sliding ring, and a second bracket is installed on the other side of the sliding ring; the first bracket comprises a plurality of second connecting members, the second connecting members are installed on the sliding ring, sliding rings are installed between the second connecting members, and straight rods are installed between the sliding rings.

[0006] The pipe conveying device is externally connected to a control cabinet, and a control system is arranged inside the control cabinet. The control system is used to control the entire pipe conveying device.

[0007] Furthermore, the transport correction component also includes a rust removal component, a rust spot detection component and a straightening detection component. The rust removal component is installed on the straight rod, the rust spot detection component is slidably connected to the sliding ring, the rust spot detection component is slidably connected to the adjusting member, the straightening detection component is slidably installed on the second bracket, and the straightening detection component is slidably connected to the adjusting member; the rust removal component includes a third electric telescopic rod, the third electric telescopic rod is installed on the straight rod, and the output shaft of the third electric telescopic rod passes through the straight rod and is equipped with a grinding block.

[0008] Furthermore, the straightening detection assembly includes a first transmission rod, which is slidably mounted on the second bracket, and a first transmission pin is mounted on the first transmission rod, the first transmission pin is slidably connected to the adjusting member, a first spring is mounted between the first transmission pin and the second bracket, an inner concave measuring wheel is rotatably mounted on one end of the first transmission rod, and a first contact is provided at the other end of the first transmission rod.

[0009] When the transport correction component slides to the end of the pipe, the control system turns on the second electric telescopic rod, and the output shaft of the second electric telescopic rod drives the adjusting part to rotate on the sliding ring. The adjusting part adjusts the transport correction component to the curvature detection mode, so that the concave measuring wheel fits the pipe, and the screw drives the transport correction component to slide. When the pipe is bent and deformed, the curved and arched part will squeeze the concave measuring wheel that slides over. After the concave measuring wheel is compressed, it drives the first transmission rod to overcome the elastic force of the first spring and slide in the opposite direction. The first transmission rod drives the first contact to slide and squeeze the force transmission plate. The force transmission plate squeezes the compressed medium in the compression chamber, and the pressure in the compression chamber increases. The pressure plate squeezes the first piezoelectric element under the action of pressure. The first piezoelectric element is compressed to generate an electric charge, which is transmitted to the control system through the wire. When the degree of bending deformation of the pipe is large, the displacement of the first transmission rod will increase, and the pressure of the first contact on the force transmission plate will increase accordingly. Finally, the charge of the first piezoelectric element will increase. The control system judges the deformation degree of the pipe according to the strength of the electrical signal, thereby achieving the purpose of pipe curvature detection.

[0010] When it is detected that the pipe has a bending deformation beyond the specified range, the control system adjusts the transport correction component to the straightening mode through the adjustment part, and adjusts the highest concave measuring wheel to produce a corresponding degree of downward displacement according to the deformation and bending degree of the pipe. The control system changes the rotation direction of the second motor output shaft through a cycle, driving the screw rod to rotate back and forth, so that the concave measuring wheel on the transport correction component reciprocates and rolls the bending area of ​​the pipe until the bending degree after detection meets the production requirements, thereby achieving the purpose of straightening the pipe; during the straightening process, the output shaft of the first electric telescopic rod drives the electric gripper to retract an appropriate amount, and the electric gripper stretches the two ends of the pipe an appropriate amount, so that the two ends of the pipe can be straightened more quickly under the action of tension.

[0011] Furthermore, the rust spot detection component includes a second transmission rod, which is slidably connected to the sliding ring, a second transmission pin is installed on the second transmission rod, the second transmission pin is slidably connected to the adjusting member, a second shell is installed at one end of the second transmission rod, a detection slide groove is provided on the second shell, an arc-shaped detection piece is slidably installed on the detection slide groove, the concave surface of the arc-shaped detection piece is made of a high friction coefficient material, a diaphragm is installed in the second shell, and a second piezoelectric element is installed between the diaphragms; a sliding block and a transmission piece are provided on the arc-shaped detection piece, a semicircular groove is provided on the side of the transmission piece, and the arc-shaped detection piece is slidably installed on the detection slide groove through the sliding block.

[0012] Furthermore, the rust spot detection component also includes a measuring rod, which is rotationally symmetrical and rotatably installed in the second shell, the measuring rods form an angle with each other, a rotating plate is provided at one end of the measuring rod, a second contact is provided on the rotating plate, a circular chamfer is provided on one side of the measuring rod, and the side of the measuring rod with the circular chamfer is engaged with the semicircular groove, a second spring is installed between the measuring rod and the second shell, and the position of the second contact corresponds to the position of the second piezoelectric element.

[0013] When the pipe curvature detection and straightening are completed, the control system controls the screw rod to rotate in the opposite direction, so that the transport correction component slides in the opposite direction, and the adjustment part adjusts the transport correction component to the rust detection mode. The arc detection piece generates friction when sliding on the pipe surface. Under the action of the friction force, the arc detection piece is displaced relative to the second shell, and the conductive piece on the arc detection piece is displaced and squeezes the measuring rod. After being squeezed, the measuring rod overcomes the elastic force of the second spring and rotates. The measuring rod drives the second contact to rotate, and the second measuring head squeezes the second piezoelectric element in the diaphragm. The second piezoelectric element outputs an electrical signal to the control system. When there are rust spots on the pipe surface, the friction force between the arc detection piece and the pipe surface will suddenly change. The change in friction force causes the displacement of the arc detection piece to change, the squeezing force of the conductive piece on the measuring rod to change, and the deflection angle of the measuring rod to change, which finally changes the electrical signal generated by the second piezoelectric element. The control system determines whether there are rust spots on the pipe surface based on the change in the electrical signal, thereby achieving the purpose of rust spot detection on the pipe surface.

[0014] When rust spots are detected on the surface of the pipe, the control system adjusts the transport and correction assembly to the initial mode through the adjustment part, and turns on the first motor and the third electric telescopic rod. The first motor drives the pipe to rotate through the electric gripper, and the output shaft of the third electric telescopic rod drives the beating module to extend forward. The beating module grinds the rust spots. During grinding, the dust removal device of the external device is used to remove the debris. After grinding, a secondary inspection is carried out until the full length of the pipe is inspected. At this time, the transport and correction assembly returns to the initial position, and the control system controls the pipe clamping assembly to disconnect the clamping of the pipe and lift it up to reset. The feeding assembly further drives the qualified pipe to lift up, so that the pipe falls on the feeding device. The feeding device transports the pipe to the feeding clamp, and the feeding clamp sends the pipe to the processing equipment, thereby completing the transportation and inspection and correction of the entire pipe.

[0015] Further, a plurality of straight grooves are provided on one side of the adjusting member, a first upper inclined groove is provided on one side of the straight groove, a first lower inclined groove or a second upper inclined groove is provided on the other side of the straight groove, a plurality of curved grooves are provided on the other side of the adjusting member, a second lower inclined groove is provided on one side of the curved groove, a bending detection device is installed on the adjusting member, the position of the bending detection device corresponds to the straight groove, and the curved groove is concentric with the adjusting member;

[0016] Initial mode: the first transmission pin is located at the middle node position of the first upper inclined slot, and the second transmission pin is located at the middle node position of the second lower inclined slot;

[0017] Curvature detection mode: the first transmission pin is slidably connected to the straight slot, and the second transmission pin is located at the connection node between the curved slot and the second lower inclined slot;

[0018] Straightening mode: the first transmission pin is slidably connected with the first lower inclined groove or the second upper inclined groove, and the second transmission pin is slidably connected with the curved groove;

[0019] Rust spot detection mode: the first transmission pin is slidably connected to the first upper inclined groove, and the second transmission pin is slidably connected to the second lower inclined groove.

[0020] When the adjusting member rotates, the first transmission pin will be driven to rotate. Since the first transmission pin is mounted on the first transmission rod, and the first transmission rod is slidably mounted on the second bracket, the first transmission pin will convert the rotation into driving the first transmission rod to slide linearly on the second bracket. Similarly, when the adjusting member rotates, the second transmission rod will be synchronously driven to slide linearly on the first bracket.

[0021] In the initial mode, the concave measuring wheel and the arc-shaped detection piece cannot come into contact with the pipe;

[0022] In the bending detection mode, the adjusting member rotates to make the first upper inclined groove slide away from the first transmission pin until the first transmission pin is located in the straight groove. In this process, the first transmission pin drives the first transmission rod to slide and approach each other, and finally the first transmission rod drives the concave measuring wheel to fit the pipe, and the bending detection device on the adjusting member is aligned with the first contact on the first transmission rod. At the same time, the second lower inclined groove slides away from the second transmission pin. In this process, the second transmission pin drives the second transmission rod to move away from each other, and the second transmission rod drives the arc detection piece away from the pipe;

[0023] In the straightening mode, the adjusting member rotates so that the first transmission pin at the highest point on the sliding ring is located in the first lower inclined groove, and at the same time, the other first transmission pins are located in the second upper inclined groove. As the adjusting member gradually rotates, the first transmission pin at the highest point drives the corresponding concave measuring wheel to further approach the pipe and squeeze the pipe. Under the squeezing, the pipe will produce a reverse bend, so that after the pipe rebounds, the reverse bend and the previous deformation bend are offset, and the pipe is gradually straightened. By rotating the adjusting member at different angles in the straightening mode, the concave detection wheel at the highest point can produce different downward displacements according to the bending degree of the pipe, so as to achieve different degrees of straightening. The other first transmission pins drive the corresponding concave measuring wheels away from the pipe. Since the curved groove is concentric with the adjusting member, the second transmission pin will not be displaced under the action of the curved groove as the adjusting member rotates;

[0024] In the rust spot detection mode, the adjusting part rotates to make the second transmission pin located at the end of the second lower inclined groove. During this process, the second transmission pin drives the second transmission rod to approach the pipe, and finally the second transmission rod drives the arc-shaped detection piece to fit the pipe. At the same time, the first transmission pin is located at the end of the first upper inclined groove, and the first transmission pin drives the concave measuring wheel away from the pipe.

[0025] Furthermore, the bending detection device includes a first shell, which is installed on the adjusting member, and a pressure plate and a force transmission plate are slidably installed in the first shell, a first piezoelectric element is installed between the pressure plate and the first shell, a compression chamber is formed between the pressure plate and the force transmission plate, and a compression medium is arranged in the compression chamber.

[0026] Furthermore, the pipe clamping assembly includes an electric lifting column, a first connecting piece is installed on the output shaft of the electric lifting column, a screw rod is rotatably installed between the first connecting pieces, the screw rod is provided with threads, a guide rod is installed between the first connecting pieces, a second motor is installed on the first connecting piece, the output shaft of the second motor passes through the first connecting piece and is connected to the screw rod, the sliding ring is threadedly connected to the screw rod, the sliding ring is slidably connected to the guide rod, a first electric telescopic rod is installed on the first connecting piece, a first motor is installed on the output shaft of the first electric telescopic rod, and an electric gripper is installed on the output shaft of the first motor.

[0027] The control system turns on the electric lifting column, and the output shaft of the electric lifting column drives the first electric telescopic rod to descend. When the electric gripper is aligned with the two ends of the pipe, it stops, and then the first electric telescopic rod is turned on. The output shaft of the first electric telescopic rod drives the first motor to extend, so that the electric gripper passes through the hole in the middle of the adjusting piece and abuts against the two ends of the pipe. The control system controls the electric gripper to clamp and fix the pipe, and then the second motor is started. The output shaft of the second motor drives the screw rod to rotate. According to the operating principle of the screw rod, the screw rod rotates and drives the transport correction assembly to slide along the guide rod.

[0028] Furthermore, the feeding assembly includes a transmission main rod, a feeding belt, a guide wheel and a winding motor. The transmission main rod is rotatably mounted on the bracket, the winding motor output shaft is connected to the transmission main rod, the winding motor is mounted on the bracket, a plurality of winding wheels are mounted on the transmission main rod, the guide wheel is mounted on one side of the pipe silo, one end of the feeding belt is connected to the pipe silo, and the other end of the feeding belt passes through the guide wheel and is connected to the winding wheel.

[0029] Put the pipe into the pipe bin, and the control system starts the winding motor. The output shaft of the winding motor drives the winding wheel to rotate through the transmission main rod. The rotation of the winding wheel tightens the feeding belt, and the feeding belt drives the pipe to be lifted up while tightening. When the pipe is lifted to the preset height, the control system starts the pipe clamping assembly.

[0030] Furthermore, the concave measuring wheel adopts a concave design, and the groove of the concave measuring wheel is used to fit the curved surface of the pipe.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. Use the adjustment part to adjust the transport correction component to the curvature detection mode. The deformation of the pipe is converted into the displacement of the first transmission rod through the concave measuring wheel. The first transmission rod converts the displacement into the squeezing force on the first piezoelectric element through the first contact. The first piezoelectric element converts the squeezing force into a recognizable electrical signal. The control system determines the deformation degree of the pipe according to the strength of the electrical signal, thereby achieving the purpose of pipe curvature detection.

[0033] 2. The control system adjusts the transport straightening component to the straightening mode through the adjustment part. According to the deformation and bending degree of the pipe, the concave measuring wheel at the highest point is adjusted to produce a corresponding degree of downward displacement, and the pipe clamping component is used to reciprocate the rolling of the bending area of ​​the pipe until the bending degree after detection meets the production requirements, thereby achieving the purpose of straightening the pipe; during the straightening process, the output shaft of the first electric telescopic rod drives the electric gripper to retract appropriately, and the electric gripper stretches the two ends of the pipe appropriately, so that the two ends of the pipe can be straightened more quickly under the action of tension.

[0034] 3. Adjust the transport correction component to the rust detection mode through the adjustment piece, and use the arc-shaped detection piece to convert the friction between it and the pipe surface into the displacement of the conductive piece. The conductive piece converts the displacement into the deflection of the measuring rod. The measuring rod converts the deflection into the squeezing of the second piezoelectric element. The second piezoelectric element converts the pressure into an electrical signal and inputs it into the control system. The control system determines whether there is rust on the pipe surface according to the change of the electrical signal, thereby achieving the purpose of rust detection on the pipe surface.

[0035] 4. Use the pipe clamping assembly to clamp and fix both ends of the pipe to keep the pipe stable during inspection. Use the screw rod to drive the transport correction assembly to slide so that the transport correction assembly can inspect and correct the entire length of the pipe.

[0036] 5. When rust spots are detected on the surface of the pipe, the control system adjusts the transport correction component to the initial mode through the adjustment part, and uses the pipe clamping component and the rust removal component to cooperate with each other to rotate and grind the rust spots, thereby achieving the purpose of rust removal.

[0037] 6. Use the loading assembly to lift the pipes in the pipe bin to reach the detection height. After the detection and correction are completed, the pipes are further transported to the conveying device to realize the feeding of the pipes.

[0038] 7. Use the second electric telescopic rod to drive the adjustment and rotation of different angles. The adjustment parts can quickly switch the transport correction component freely between the bending detection mode, straightening mode and rust detection mode through changes in different angles, making the detection and correction of pipes faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is an overall stereogram of the pipe conveying device of the present invention;

[0040] Figure 2 A three-dimensional diagram of a feeding assembly of the present invention;

[0041] Figure 3 is a three-dimensional diagram of the pipe clamping assembly of the present invention;

[0042] Figure 4 A three-dimensional structure for transporting the correction assembly of the present invention Figure 1 ;

[0043] Figure 5 A three-dimensional structure for transporting the correction assembly of the present invention Figure 2 ;

[0044] Figure 6 It is a three-dimensional diagram of the first bracket and the rust removal assembly of the present invention;

[0045] Figure 7 is a stereoscopic diagram of the straightening detection assembly of the present invention;

[0046] Figure 8 The three-dimensional adjusting member of the present invention Figure 1 ;

[0047] Fig. 9 The three-dimensional adjusting member of the present invention Figure 2 ;

[0048] Fig.10 It is a front view of the adjusting member of the present invention;

[0049] Fig.11 is a three-dimensional diagram of a bending detection device of the present invention;

[0050] Fig.12 The rust spot detection component of the present invention is a three-dimensional Figure 1 ;

[0051] Fig.13 The rust spot detection component of the present invention is a three-dimensional Figure 2 ;

[0052] Fig.14 For the present invention Fig.13 A partial enlarged view of area A.

[0053] In the figure: 1. pipe silo; 2. transport and correction component; 3. pipe clamping component; 4. bracket; 5. feeding claw; 6. feeding device; 7. feeding component; 71. feeding belt; 72. winding wheel; 73. transmission main rod; 74. guide wheel; 31. electric lifting column; 32. first connecting piece; 33. guide rod; 34. screw rod; 35. first motor; 36. first electric telescopic rod; 37. electric gripper; 38. second motor; 21. sliding ring; 22. adjusting piece; 23. first bracket; 24. rust removal component; 25. rust spot detection component; 26. second electric telescopic rod; 27. straightening detection component; 28. second bracket; 231. straight rod; 232. sliding collar; 233. second connecting piece; 241. third electric telescopic rod; 242. grinding block; 271. first spring; 272. first transmission rod; 273, concave measuring wheel; 274, first transmission pin; 275, first contact; 221, bending detection device; 222, first lower inclined groove; 223, first upper inclined groove; 224, second upper inclined groove; 225, straight groove; 226, second lower inclined groove; 227, curved groove; 2211, first housing; 2212, first piezoelectric element; 2213, pressure plate; 2214, force transmission plate; 2215, compression chamber chamber; 251, second transmission rod; 252, second transmission pin; 253, arc-shaped detection plate; 254, second housing; 255, second spring; 256, measuring rod; 257, second piezoelectric element; 258, diaphragm; 2531, sliding block; 2532, transmission plate; 2533, semicircular groove; 2561, rotating plate; 2562, second contact; 2563, circular chamfer; 2541, detection slide groove. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figure 1-Figure 14As shown, the present invention provides a technical solution for a pipe conveying device with an anti-deviation function: comprising a bracket 4, a pipe clamping assembly 3 is provided on one side of the bracket 4, a transport correction assembly 2 is rotatably installed on the pipe clamping assembly 3, a loading assembly 7 is installed on the bracket 4, a feeding clamp 5 is installed on the bracket 4, a feeding device 6 is installed on the bracket 4, and a pipe bin 1 is installed on the bracket 4; the transport correction assembly 2 comprises a sliding ring 21 and a plurality of second electric telescopic rods 26, the sliding ring 21 is slidably connected to the pipe clamping assembly 3, and the sliding ring 21 is connected to the pipe clamping assembly 3. An adjusting member 22 is rotatably mounted on the ring 21, one end of the second electric telescopic rod 26 is rotatably connected to the sliding ring 21, the output shaft of the second electric telescopic rod 26 is rotatably connected to the adjusting member 22, a first bracket 23 is mounted on one side of the sliding ring 21, and a second bracket 28 is mounted on the other side of the sliding ring 21; the first bracket 23 includes a plurality of second connecting members 233, the second connecting members 233 are mounted on the sliding ring 21, sliding collars 232 are mounted between the second connecting members 233, and straight rods 231 are mounted between the sliding collars 232.

[0056] The pipe conveying device is externally connected to a control cabinet, and a control system is arranged inside the control cabinet. The control system is used to control the entire pipe conveying device.

[0057] The feeding assembly 7 includes a transmission main rod 73, a feeding belt 71, a guide wheel 74 and a winding motor. The transmission main rod 73 is rotatably mounted on the bracket 4, the winding motor output shaft is connected to the transmission main rod 73, the winding motor is mounted on the bracket 4, a plurality of winding wheels 72 are mounted on the transmission main rod 73, the guide wheel 74 is mounted on one side of the pipe silo 1, one end of the feeding belt 71 is connected to the pipe silo 1, and the other end of the feeding belt 71 passes through the guide wheel 74 and is connected to the winding wheel 72.

[0058] A plurality of straight grooves 225 are provided on one side of the adjusting member 22, a first upper inclined groove 223 is provided on one side of the straight groove 225, a first lower inclined groove 222 or a second upper inclined groove 224 is provided on the other side of the straight groove 225, a plurality of curved grooves 227 are provided on the other side of the adjusting member 22, a second lower inclined groove 226 is provided on one side of the curved groove 227, a bending detection device 221 is installed on the adjusting member 22, the position of the bending detection device 221 corresponds to the straight groove 225, and the curved groove 227 is concentric with the adjusting member 22;

[0059] Initial mode: the first transmission pin 274 is located at the middle node position of the first upper inclined slot 223, and the second transmission pin 252 is located at the middle node position of the second lower inclined slot 226;

[0060] Curvature detection mode: the first transmission pin 274 is slidably connected to the straight slot 225, and the second transmission pin 252 is located at the connection node between the curved slot 227 and the second lower inclined slot 226;

[0061] Straightening mode: the first transmission pin 274 is slidably connected to the first lower inclined groove 222 or the second upper inclined groove 224, and the second transmission pin 252 is slidably connected to the curved groove 227;

[0062] Rust spot detection mode: the first transmission pin 274 is slidably connected to the first upper inclined groove 223 , and the second transmission pin 252 is slidably connected to the second lower inclined groove 226 .

[0063] When the adjusting member 22 rotates, the first transmission pin 274 will be driven to rotate. Since the first transmission pin 274 is mounted on the first transmission rod 272, and the first transmission rod 272 is slidably mounted on the second bracket 28, the first transmission pin 274 converts the rotation into driving the first transmission rod 272 to slide linearly on the second bracket 28. Similarly, when the adjusting member 22 rotates, the second transmission rod 251 will be synchronously driven to slide linearly on the first bracket 23.

[0064] In the initial mode, the concave measuring wheel 273 and the arc-shaped detecting piece 253 cannot come into contact with the pipe;

[0065] In the bending detection mode, the adjusting member 22 rotates to make the first upper inclined groove 223 slide away from the first transmission pin 274 until the first transmission pin 274 is located in the straight groove 225. During this process, the first transmission pin 274 drives the first transmission rod 272 to slide and approach each other. Finally, the first transmission rod 272 drives the concave measuring wheel 273 to fit the pipe, and the bending detection device 221 on the adjusting member 22 is aligned with the first contact 275 on the first transmission rod 272. At the same time, the second lower inclined groove 226 slides away from the second transmission pin 252. During this process, the second transmission pin 252 drives the second transmission rod 251 to move away from each other, and the second transmission rod 251 drives the arc detection piece 253 away from the pipe.

[0066] In the straightening mode, the adjusting member 22 rotates so that the first transmission pin 274 at the highest point on the sliding ring 21 is located in the first lower inclined groove 222, and at the same time, the other first transmission pins 274 are located in the second upper inclined groove 224. As the adjusting member 22 gradually rotates, the first transmission pin 274 at the highest point drives the corresponding concave measuring wheel 273 to further approach the pipe and squeeze the pipe. Under the squeezing, the pipe will produce a reverse bend, so that after the pipe rebounds, the reverse bend and the previous deformation bend are offset, and the pipe is gradually straightened. By rotating the adjusting member 22 at different angles in the straightening mode, the concave detection wheel at the highest point can produce different downward displacements according to the bending degree of the pipe, so as to achieve different degrees of straightening. The other first transmission pins 274 drive the corresponding concave measuring wheel 273 away from the pipe. Since the curved groove 227 is concentric with the adjusting member 22, the second transmission pin 252 will not be displaced under the action of the curved groove 227 as the adjusting member 22 rotates;

[0067] In the rust spot detection mode, the adjusting member 22 rotates to make the second transmission pin 252 located at the end of the second lower inclined groove 226. During this process, the second transmission pin 252 drives the second transmission rod 251 to approach the pipe, and finally the second transmission rod 251 drives the arc-shaped detection piece 253 to fit the pipe. At the same time, the first transmission pin 274 is located at the end of the first upper inclined groove 223, and the first transmission pin 274 drives the concave measuring wheel 273 away from the pipe.

[0068] The bending detection device 221 includes a first shell 2211, which is installed on the adjusting member 22. A pressure plate 2213 and a force transmission plate 2214 are slidably installed in the first shell 2211, a first piezoelectric element 2212 is installed between the pressure plate 2213 and the first shell 2211, and a compression chamber 2215 is formed between the pressure plate 2213 and the force transmission plate 2214, and a compression medium is arranged in the compression chamber 2215.

[0069] The pipe clamping assembly 3 includes an electric lifting column 31, a first connecting member 32 is installed on the output shaft of the electric lifting column 31, a screw rod 34 is rotatably installed between the first connecting members 32, the screw rod 34 is provided with a thread, a guide rod 33 is installed between the first connecting members 32, a second motor 38 is installed on the first connecting member 32, the output shaft of the second motor 38 passes through the first connecting member 32 and is connected to the screw rod 34, the sliding ring 21 is threadedly connected to the screw rod 34, the sliding ring 21 is slidably connected to the guide rod 33, a first electric telescopic rod 36 is installed on the first connecting member 32, a first motor 35 is installed on the output shaft of the first electric telescopic rod 36, and an electric gripper 37 is installed on the output shaft of the first motor 35.

[0070] The concave measuring wheel 273 adopts a concave design, and the groove of the concave measuring wheel 273 is used to fit the curved surface of the pipe.

[0071] The transport and correction component 2 also includes a rust removal component 24, a rust spot detection component 25 and a straightening detection component 27. The rust removal component 24 is installed on the straight rod 231, the rust spot detection component 25 is slidably connected to the sliding ring 232, the rust spot detection component 25 is slidably connected to the adjusting member 22, and the straightening detection component 27 is slidably installed on the second bracket 28, and the straightening detection component 27 is slidably connected to the adjusting member 22; the rust removal component 24 includes a third electric telescopic rod 241, the third electric telescopic rod 241 is installed on the straight rod 231, and the output shaft of the third electric telescopic rod 241 passes through the straight rod 231 and is equipped with a grinding block 242.

[0072] The straightening detection assembly 27 includes a first transmission rod 272, which is slidably mounted on the second bracket 28. A first transmission pin 274 is mounted on the first transmission rod 272, and the first transmission pin 274 is slidably connected to the adjusting member 22. A first spring 271 is mounted between the first transmission pin 274 and the second bracket 28. An inner concave measuring wheel 273 is rotatably mounted on one end of the first transmission rod 272, and a first contact 275 is provided at the other end of the first transmission rod 272.

[0073] The rust spot detection assembly 25 includes a second transmission rod 251, which is slidably connected to the sliding ring 232. A second transmission pin 252 is installed on the second transmission rod 251, and the second transmission pin 252 is slidably connected to the adjusting member 22. A second shell 254 is installed at one end of the second transmission rod 251, and a detection slide groove 2541 is provided on the second shell 254. An arc-shaped detection piece 253 is slidably installed on the detection slide groove 2541. The concave surface of the arc-shaped detection piece 253 is made of a material with a high friction coefficient. A diaphragm 258 is installed in the second shell 254, and a second piezoelectric element 257 is installed between the diaphragms 258; a sliding block 2531 and a transmission piece 2532 are provided on the arc-shaped detection piece 253, and a semicircular groove 2533 is provided on the side of the transmission piece 2532. The arc-shaped detection piece 253 is slidably installed on the detection slide groove 2541 through the sliding block 2531.

[0074] The rust spot detection component 25 also includes a measuring rod 256, which is rotationally symmetrical and rotatably installed in the second shell 254. The measuring rods 256 form an angle with each other. A rotating piece 2561 is provided at one end of the measuring rod 256, and a second contact 2562 is provided on the rotating piece 2561. A circular chamfer 2563 is provided on one side of the measuring rod 256. The side of the measuring rod 256 where the circular chamfer 2563 is provided is engaged with the semicircular groove 2533. A second spring 255 is installed between the measuring rod 256 and the second shell 254, and the position of the second contact 2562 corresponds to the position of the second piezoelectric element 257.

[0075] The working principle of the present invention is as follows: the pipe is placed in the pipe bin 1, the control system starts the winding motor, the output shaft of the winding motor drives the winding wheel 72 to rotate through the transmission main rod 73, the winding wheel 72 rotates to tighten the feeding belt 71, and the feeding belt 71 drives the pipe to be lifted up while tightening. When the pipe is lifted to a preset height, the control system starts the pipe clamping assembly 3.

[0076] The control system turns on the electric lifting column 31, and the output shaft of the electric lifting column 31 drives the first electric telescopic rod 36 to descend. When the electric gripper 37 is aligned with the two ends of the pipe, it stops, and then the first electric telescopic rod 36 is turned on. The output shaft of the first electric telescopic rod 36 drives the first motor 35 to extend, so that the electric gripper 37 passes through the hole in the middle of the adjusting member 22 and abuts against the two ends of the pipe. The control system controls the electric gripper 37 to clamp and fix the pipe, and then starts the second motor 38. The output shaft of the second motor 38 drives the screw rod 34 to rotate. According to the operating principle of the screw rod 34, the screw rod 34 rotates and drives the transport correction component 2 to slide along the guide rod 33.

[0077] When the transport correction component 2 slides to the end of the pipe, the control system turns on the second electric telescopic rod 26. The output shaft of the second electric telescopic rod 26 drives the adjusting member 22 to rotate on the sliding ring 21. The adjusting member 22 adjusts the transport correction component 2 to the curvature detection mode, so that the concave measuring wheel 273 fits the pipe, and the screw rod 34 drives the transport correction component 2 to slide. When the pipe is bent and deformed, the curved and arched part will squeeze the concave measuring wheel 273 that slides over. After the concave measuring wheel 273 is compressed, it drives the first transmission rod 272 to overcome the elastic force of the first spring 271 and slide in the opposite direction. The first transmission rod 272 drives the first contact 275 to slide and squeeze the force transmission plate 2 214, the force transmission plate 2214 squeezes the compressed medium in the compression chamber 2215, the pressure in the compression chamber 2215 increases, and the pressure plate 2213 squeezes the first piezoelectric element 2212 under the action of pressure. The first piezoelectric element 2212 is compressed to generate electric charge, and the charge is transmitted to the control system through the wire. When the bending deformation degree of the pipe is large, the displacement of the first transmission rod 272 will increase, and the pressure of the first contact 275 on the force transmission plate 2214 will increase accordingly. Finally, the charge amount of the first piezoelectric element 2212 will increase. The control system determines the deformation degree of the pipe according to the strength of the electrical signal, thereby achieving the purpose of pipe bending detection.

[0078] When it is detected that the pipe has a bending deformation beyond the specified range, the control system adjusts the transport correction component 2 to the straightening mode through the adjustment part 22, and adjusts the highest concave measuring wheel 273 to produce a corresponding degree of downward displacement according to the deformation and bending degree of the pipe. The control system cyclically changes the rotation direction of the output shaft of the second motor 38, drives the screw 34 to rotate back and forth, so that the concave measuring wheel 273 on the transport correction component 2 reciprocates and rolls the bending area of ​​the pipe until the bending degree after detection meets the production requirements, thereby achieving the purpose of straightening the pipe; during the straightening process, the output shaft of the first electric telescopic rod 36 drives the electric gripper 37 to retract an appropriate amount, and the electric gripper 37 stretches the two ends of the pipe an appropriate amount, so that the two ends of the pipe can be straightened more quickly under the action of tension.

[0079] When the pipe curvature detection and straightening are completed, the control system controls the screw rod 34 to rotate in the opposite direction, so that the transport correction component 2 slides in the opposite direction, and the adjustment member 22 adjusts the transport correction component 2 to the rust detection mode. The arc detection piece 253 generates friction when sliding on the surface of the pipe. Under the action of the friction, the arc detection piece 253 is displaced relative to the second shell 254, and the conductive piece on the arc detection piece 253 is displaced and squeezes the measuring rod 256. After being squeezed, the measuring rod 256 overcomes the elastic force of the second spring 255 and rotates. The measuring rod 256 drives the second contact 2562 to rotate, and the second contact 2562 rotates. The second probe squeezes the second piezoelectric element 257 in the diaphragm 258, and the second piezoelectric element 257 outputs an electrical signal to the control system. When there is rust on the surface of the pipe, the friction between the arc detection piece 253 and the surface of the pipe will change suddenly. The change in friction causes the displacement of the arc detection piece 253 to change, and the squeezing force of the conductive piece on the measuring rod 256 changes. The deflection angle of the measuring rod 256 changes, and finally the electrical signal generated by the second piezoelectric element 257 changes. The control system determines whether there is rust on the surface of the pipe according to the change in the electrical signal, thereby achieving the purpose of detecting rust on the pipe surface.

[0080] When rust spots are detected on the surface of the pipe, the control system adjusts the transport and correction component 2 to the initial mode through the adjustment part 22, and turns on the first motor 35 and the third electric telescopic rod 241. The first motor 35 drives the pipe to rotate through the electric gripper 37, and the output shaft of the third electric telescopic rod 241 drives the beating module to extend forward. The beating module grinds the rust spots. During grinding, the dust removal device of the external device is used to remove the debris. After grinding, a secondary inspection is carried out until the full length of the pipe is inspected. At this time, the transport and correction component 2 returns to the initial position, and the control system controls the pipe clamping component 3 to disconnect the clamping of the pipe and lift it up to reset. The feeding component 7 further drives the qualified pipe to lift up, so that the pipe falls on the feeding device 6. The feeding device 6 transports the pipe to the feeding clamp 5, and the feeding clamp 5 delivers the pipe to the processing equipment, thereby completing the transportation and inspection and correction of the entire pipe.

[0081] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A pipe conveying device with anti-deviation function, characterized in that: The pipe conveying device comprises a bracket (4), a pipe clamping assembly (3) is provided on one side of the bracket (4), a transport correction assembly (2) is rotatably mounted on the pipe clamping assembly (3), a loading assembly (7) is mounted on the bracket (4), a feeding clamp (5) is mounted on the bracket (4), a feeding device (6) is mounted on the bracket (4), and a pipe bin (1) is mounted on the bracket (4); the transport correction assembly (2) comprises a sliding ring (21) and a plurality of second electric telescopic rods (26), the sliding ring (21) is slidably connected to the pipe clamping assembly (3), and the sliding ring (21) is rotatably mounted on the An adjusting member (22) is provided, one end of the second electric telescopic rod (26) is rotatably connected to the sliding ring (21), the output shaft of the second electric telescopic rod (26) is rotatably connected to the adjusting member (22), a first bracket (23) is installed on one side of the sliding ring (21), and a second bracket (28) is installed on the other side of the sliding ring (21); the first bracket (23) includes a plurality of second connecting members (233), the second connecting members (233) are installed on the sliding ring (21), sliding rings (232) are installed between the second connecting members (233), and straight rods (231) are installed between the sliding rings (232).

2. The pipe conveying device with anti-deviation function according to claim 1 is characterized in that: The transport and correction component (2) further comprises a rust removal component (24), a rust spot detection component (25) and a straightening detection component (27); the rust removal component (24) is mounted on the straight rod (231); the rust spot detection component (25) is slidably connected to the sliding ring (232); the rust spot detection component (25) is slidably connected to the adjusting member (22); the straightening detection component (27) is slidably mounted on the second bracket (28); the straightening detection component (27) is slidably connected to the adjusting member (22); the rust removal component (24) comprises a third electric telescopic rod (241); the third electric telescopic rod (241) is mounted on the straight rod (231); the output shaft of the third electric telescopic rod (241) passes through the straight rod (231) and is provided with a grinding block (242).

3. The pipe conveying device with anti-deviation function according to claim 2 is characterized in that: The straightening detection assembly (27) comprises a first transmission rod (272), the first transmission rod (272) being slidably mounted on a second bracket (28), a first transmission pin (274) being mounted on the first transmission rod (272), the first transmission pin (274) being slidably connected to an adjusting member (22), a first spring (271) being mounted between the first transmission pin (274) and the second bracket (28), an inner concave measuring wheel (273) being rotatably mounted on one end of the first transmission rod (272), and a first contact (275) being provided at the other end of the first transmission rod (272).

4. The pipe conveying device with anti-deviation function according to claim 3 is characterized in that: The rust spot detection assembly (25) comprises a second transmission rod (251), the second transmission rod (251) is slidably connected to the sliding ring (232), a second transmission pin (252) is mounted on the second transmission rod (251), the second transmission pin (252) is slidably connected to the adjusting member (22), a second housing (254) is mounted on one end of the second transmission rod (251), a detection slide groove (2541) is provided on the second housing (254), and an arc-shaped detection sheet (2541) is slidably mounted on the detection slide groove (2541) 253), the concave surface of the arc-shaped detection piece (253) is made of a material with a high friction coefficient, a diaphragm (258) is installed in the second shell (254), and a second piezoelectric element (257) is installed between the diaphragms (258); a sliding block (2531) and a transmission piece (2532) are provided on the arc-shaped detection piece (253), and a semicircular groove (2533) is provided on the side of the transmission piece (2532), and the arc-shaped detection piece (253) is slidably installed on the detection slide groove (2541) through the sliding block (2531).

5. The pipe conveying device with anti-deviation function according to claim 4 is characterized in that: The rust spot detection component (25) further comprises a measuring rod (256), the measuring rod (256) being rotationally symmetrical and rotationally mounted in the second housing (254), the measuring rods (256) forming an angle with each other, a rotating plate (2561) being provided at one end of the measuring rod (256), a second contact (2562) being provided on the rotating plate (2561), a circular chamfer (2563) being provided at one side of the measuring rod (256), the side of the measuring rod (256) having the circular chamfer (2563) being engaged with the semicircular groove (2533), a second spring (255) being installed between the measuring rod (256) and the second housing (254), the position of the second contact (2562) corresponding to the position of the second piezoelectric element (257).

6. The pipe conveying device with anti-deviation function according to claim 5 is characterized in that: A plurality of straight grooves (225) are provided on one side of the adjusting member (22), a first upper inclined groove (223) is provided on one side of the straight groove (225), a first lower inclined groove (222) or a second upper inclined groove (224) is provided on the other side of the straight groove (225), a plurality of curved grooves (227) are provided on the other side of the adjusting member (22), a second lower inclined groove (226) is provided on one side of the curved groove (227), a bending detection device (221) is installed on the adjusting member (22), the position of the bending detection device (221) corresponds to the straight groove (225), and the curved groove (227) is concentric with the adjusting member (22); Initial mode: the first transmission pin (274) is located at the middle node position of the first upper inclined slot (223), and the second transmission pin (252) is located at the middle node position of the second lower inclined slot (226); Curvature detection mode: the first transmission pin (274) is slidably connected to the straight slot (225), and the second transmission pin (252) is located at the connection node between the curved slot (227) and the second lower inclined slot (226); Straightening mode: the first transmission pin (274) is slidably connected to the first lower inclined groove (222) or the second upper inclined groove (224), and the second transmission pin (252) is slidably connected to the curved groove (227); Rust spot detection mode: the first transmission pin (274) is slidably connected to the first upper inclined groove (223), and the second transmission pin (252) is slidably connected to the second lower inclined groove (226).

7. The pipe conveying device with anti-deviation function according to claim 6 is characterized in that: The bending detection device (221) comprises a first shell (2211), wherein the first shell (2211) is mounted on the adjusting member (22), wherein a pressure plate (2213) and a force transmission plate (2214) are slidably mounted in the first shell (2211), wherein a first piezoelectric element (2212) is mounted between the pressure plate (2213) and the first shell (2211), wherein a compression chamber (2215) is formed between the pressure plate (2213) and the force transmission plate (2214), wherein a compression medium is arranged in the compression chamber (2215).

8. The pipe conveying device with anti-deviation function according to claim 1 is characterized in that: The pipe clamping assembly (3) comprises an electric lifting column (31), a first connecting member (32) is installed on the output shaft of the electric lifting column (31), a screw rod (34) is rotatably installed between the first connecting members (32), the screw rod (34) is provided with a thread, a guide rod (33) is installed between the first connecting members (32), a second motor (38) is installed on the first connecting member (32), the output shaft of the second motor (38) passes through the first connecting member (32) and is connected to the screw rod (34), the sliding ring (21) is threadedly connected to the screw rod (34), the sliding ring (21) is slidably connected to the guide rod (33), a first electric telescopic rod (36) is installed on the first connecting member (32), a first motor (35) is installed on the output shaft of the first electric telescopic rod (36), and an electric gripper (37) is installed on the output shaft of the first motor (35).

9. The pipe conveying device with anti-deviation function according to claim 1 is characterized in that: The feeding assembly (7) comprises a transmission main rod (73), a feeding belt (71), a guide wheel (74) and a winding motor. The transmission main rod (73) is rotatably mounted on a bracket (4). The winding motor output shaft is connected to the transmission main rod (73). The winding motor is mounted on the bracket (4). A plurality of winding wheels (72) are mounted on the transmission main rod (73). The guide wheel (74) is mounted on one side of the tube bin (1). One end of the feeding belt (71) is connected to the tube bin (1). The other end of the feeding belt (71) passes through the guide wheel (74) and is connected to the winding wheel (72).

10. The pipe conveying device with anti-deviation function according to claim 3, characterized in that: The concave measuring wheel (273) adopts a concave design, and the groove of the concave measuring wheel (273) is used to fit the curved surface of the pipe.

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